From f258bfe0443e192a6bfc341229dc641f249e139d Mon Sep 17 00:00:00 2001
From: Jing Dong <jdong@gatech.edu>
Date: Fri, 17 Oct 2014 14:44:37 -0400
Subject: [PATCH] add DerivedValue test for Cal3Unified

---
 gtsam/geometry/tests/testCal3Unified.cpp | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/gtsam/geometry/tests/testCal3Unified.cpp b/gtsam/geometry/tests/testCal3Unified.cpp
index b260415f1..de9a8b739 100644
--- a/gtsam/geometry/tests/testCal3Unified.cpp
+++ b/gtsam/geometry/tests/testCal3Unified.cpp
@@ -19,6 +19,9 @@
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/geometry/Cal3Unified.h>
 
+#include <gtsam/nonlinear/Values.h>
+#include <gtsam/inference/Key.h>
+
 using namespace gtsam;
 
 GTSAM_CONCEPT_TESTABLE_INST(Cal3Unified)
@@ -97,6 +100,19 @@ TEST( Cal3Unified, retract)
   CHECK(assert_equal(d,K.localCoordinates(actual),1e-9));
 }
 
+/* ************************************************************************* */
+TEST( Cal3Unified, DerivedValue)
+{
+  Values values;
+  Cal3Unified cal(1, 2, 3, 4, 5, 6, 7, 8, 9, 10);
+  Key key = 1;
+  values.insert(key, cal);
+
+  Cal3Unified calafter = values.at<Cal3Unified>(key);
+
+  CHECK(assert_equal(cal,calafter,1e-9));
+}
+
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
 /* ************************************************************************* */